CN114102113A - Automatic bolt fastening device using double-arm horizontal joint robot - Google Patents
Automatic bolt fastening device using double-arm horizontal joint robot Download PDFInfo
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- CN114102113A CN114102113A CN202110199379.3A CN202110199379A CN114102113A CN 114102113 A CN114102113 A CN 114102113A CN 202110199379 A CN202110199379 A CN 202110199379A CN 114102113 A CN114102113 A CN 114102113A
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- 238000000034 method Methods 0.000 claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 18
- 238000001179 sorption measurement Methods 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000003028 elevating effect Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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- 238000007665 sagging Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
- B23P19/005—Feeding the articles from hoppers to machines or dispensers by using flowing gases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/102—Aligning parts to be fitted together using remote centre compliance devices
- B23P19/105—Aligning parts to be fitted together using remote centre compliance devices using sensing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/043—Cylindrical coordinate type comprising an articulated arm double selective compliance articulated robot arms [SCARA]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to an automatic bolt fastening device, which can stably fasten a bolt and greatly shorten the time required for fastening the bolt by simultaneously and independently performing a process of mounting the bolt from a bolt feeder and a process of fastening the bolt to a workpiece by using a double-arm horizontal articulated robot. The invention comprises the following steps: a body frame; a lower arm provided to the body frame to be rotatable in the left-right direction; a clamp which is arranged at the front end part of the lower arm and carries a bolt from a bolt feeder; an upper arm provided on the body frame so as to be rotatable in the left-right direction on the upper side of the lower arm; a bolt fastening device which is arranged at the front end part of the upper arm in a lifting way, moves the bolt loaded on the clamp along the assembly line in a vacuum adsorption state through the upper arm, and then fastens the bolt on the processed object positioned on the assembly line; a process for mounting a bolt from a bolt feeder by a jig and a process for fastening the bolt to a workpiece by a bolt fastener are independently performed at the same time.
Description
Technical Field
The present invention relates to an automatic bolt fastening apparatus, and more particularly, to an automatic bolt fastening apparatus which can stably fasten a bolt and greatly shorten a time required to fasten the bolt by simultaneously and independently performing a process of mounting a bolt from a bolt feeder and a process of fastening the bolt to a workpiece using a double-arm horizontal articulated robot.
Background
Generally, an assembly line for industrial products is mainly used for fastening bolts, and a process for fastening bolts is mostly automated in each assembly line.
As a method widely used for fastening bolts in each assembly line, a method is known in korean registered utility model No. 0453575 (2011.05.03) in which bolts to be fastened are vacuum-sucked on a vacuum suction pipe and then fastened to a workpiece.
In the case of using the vacuum suction pipe as described above, the vacuum suction pipe performs vacuum suction of the bolt by the bolt feeder via the horizontal articulated robot, moves to the workpiece in the assembly line to fasten the bolt, and again moves to the bolt feeder to vacuum-suck the bolt.
According to the conventional technique, the bolt is moved and fastened to the workpiece in a state where the bolt is vacuum-sucked to the lower end portion of the vacuum suction pipe, and therefore, there is an advantage in that the bolt fastening is very stably performed without a problem of scattering of the inclination of the bolt.
However, although the case of performing bolt fastening by the vacuum suction pipe has an advantage that stable bolt fastening can be performed, there is a disadvantage in that a process of performing the vacuum suction pipe in a state of being fixed to the bolt feeder to vacuum-suck the bolt, moving the vacuum suction pipe to the workpiece in the assembly line, then fastening the vacuum-sucked bolt in a state of being fixed to the workpiece, and moving the vacuum suction pipe to the bolt feeder again should be sequentially performed one by one, and thus much time is required for bolt fastening.
Prior art documents
Patent document
Korean laid-open patent publication No. 1998-
Disclosure of Invention
Accordingly, the present invention has been made to solve all the above-mentioned problems occurring in the prior art, and an object of the present invention is to provide an automatic bolt fastening device which can stably fasten a bolt and greatly shorten a time required for fastening the bolt by simultaneously and independently performing a process of mounting the bolt from a bolt feeder and a process of fastening the bolt to a workpiece using a double-arm horizontal articulated robot.
In order to achieve the above object, an automatic bolt fastening device according to the technical idea of the present invention includes, as an automatic bolt fastening device that receives a bolt supplied from a bolt feeder and can fasten the bolt to a workpiece located on an assembly line: a body frame; a lower arm provided to the body frame to be rotatable in the left-right direction; a clamp which is arranged at the front end part of the lower arm and carries a bolt from a bolt feeder; an upper arm provided on the body frame so as to be rotatable in the left-right direction on the upper side of the lower arm; and a bolt fastening device which is arranged at the front end part of the upper arm in a lifting way, moves the bolt loaded on the clamp along the assembly line in a vacuum adsorption state through the upper arm, and then fastens the bolt on the processed object positioned on the assembly line, thereby simultaneously and independently carrying out a process of loading the bolt from the bolt feeder through the clamp and a process of fastening the bolt on the processed object through the bolt fastening device.
Here, it may be characterized in that the jig includes: a vacuum clamp which is arranged at the front end part of an auxiliary arm and can carry out vacuum adsorption on the bolt of the bolt feeder, wherein the auxiliary arm is arranged on the front end part of the lower arm in a mode of rotating along the left-right direction; and a jaw which can clamp the bolt vacuum-sucked to the vacuum chuck through a pair of jaws (jaw) provided below and provided at the front end portion of the lower arm in a rotatable manner in the left-right direction and transmit it to the bolt fastener.
Further, it may be characterized in that the auxiliary arm receives a driving force of the first motor and is rotatable in the left-right direction in a state of being liftably supported at a front end portion of the lower arm by a ball spline vertically coupled to a lower side.
Further, it may be characterized in that a spring for buffering is further provided, which elastically supports the ball spline.
Further, it may be characterized in that the jaw is provided with a lifting unit which lifts and lowers the vacuum chuck to separate the bolt in a state of clamping the bolt vacuum-sucked to the vacuum chuck, the lifting unit including: a pinion gear provided on a shaft of the second motor; a rack engaged with the pinion and linearly moved; a sliding member coupled to the rack and linearly moving in a front-rear direction; a rail for guiding the sliding member to slide; a connecting joint, one end of which is hinged with the front end of the sliding component; a lifting body hinged with the other end of the connection, lifting if the sliding component moves forwards, and lowering if the sliding component moves backwards, and simultaneously lifting the auxiliary arm; and a guide bar vertically combined along the lower side of the lifting body and guiding the lifting of the lifting body.
Furthermore, it may be characterized in that the sliding member includes: a rack coupling part coupled to an upper surface of the rack; a left-right enlarged part which is combined with the front end part of the rack combination part in a form of being long along the left-right direction; and a pair of slide portions coupled to left and right ends of the left and right enlarged portions, respectively, and formed to be spaced apart from each other and elongated in the front-rear direction, wherein the rail bar, the coupling bar, and the guide bar are formed in a pair on the left and right sides corresponding to the slide portions, and a first motor and a third motor are disposed in a space between the pair of slide portions spaced apart from each other to supply power to the vacuum chuck and the chuck jaws, respectively.
Furthermore, it may be characterized in that the upper arm and the lower arm are each formed by a bendable articulated arm.
Further, an industrial product manufacturing system according to the present invention is technically characterized by comprising: a conveyor for transferring the workpiece to each assembly line; a bolt feeder that feeds bolts; and an automatic bolt fastening device which receives the bolt supplied from the bolt feeder and can fasten it to the workpiece on the assembly line.
According to the automatic bolt fastening device of the present invention, the process of mounting the bolt from the bolt feeder and the process of fastening the bolt to the workpiece are independently performed at the same time using the double-arm horizontal articulated robot, rather than sequentially performed, so that the bolt can be stably fastened and the time required for fastening the bolt can be greatly shortened.
Drawings
Fig. 1 is a use state diagram of an automatic bolt fastening apparatus according to an embodiment of the present invention.
Fig. 2 is a side view of an automatic bolt fastening apparatus according to an embodiment of the present invention.
Fig. 3 is an enlarged view of a main part in fig. 2.
Fig. 4 is a partial perspective view of a lower arm provided with a vacuum chuck and jaws in an automatic bolt tightening apparatus according to an embodiment of the present invention.
Fig. 5 is a reference view for explaining an internal configuration of a lower arm provided with a vacuum chuck and a jaw in the automatic bolt fastening apparatus according to the embodiment of the present invention.
Fig. 6 is a perspective view for explaining a configuration of an elevating unit that elevates a vacuum chuck to separate bolts in the automatic bolt fastening apparatus according to the embodiment of the present invention.
Fig. 7 is a plan view of a lower arm provided with a vacuum chuck and jaws in an automatic bolt tightening apparatus according to an embodiment of the present invention.
Fig. 8 is a side view of a lower arm provided with a vacuum chuck and jaws in an automatic bolt tightening apparatus according to an embodiment of the present invention.
Fig. 9 is a cross-sectional view a-a according to fig. 7.
Fig. 10 is a partially enlarged view of a main portion of fig. 9.
Fig. 11a to 11l are a series of reference views showing bolt moving and fastening work.
Description of the reference symbols
110: the body frame 120: lower arm
130: upper arm 140: vacuum clamp
150: the clamping jaw 160: bolt fastener
170: the lifting unit 180: ball spline
Detailed Description
An automatic bolt fastening apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. However, the present invention is not limited to the specific embodiments disclosed, and all modifications, equivalents, and alternatives included in the spirit and technical scope of the present invention are to be understood as being included therein. Like reference numerals are used for like components while describing the respective drawings. In the drawings, the size of the structure is enlarged and shown in order to ensure the clarity of the present invention, or the size of the structure is reduced and shown in order to understand the schematic configuration.
Moreover, the terms first, second, etc. may be used when describing various elements, but the elements are not limited by the terms. The term is used only for the purpose of distinguishing one constituent element from other constituent elements. For example, a first component may be termed a second component, and, similarly, a second component may be termed a first component, without departing from the scope of the present invention. In addition, all terms including technical terms or scientific terms used herein have the same meaning as commonly understood by one having ordinary skill in the art to which this invention belongs, if not otherwise defined. Terms having the same meaning as defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in context with the relevant art and should not be interpreted in an above or excessive manner if not explicitly defined in this application.
< example >
Fig. 1 is a use state view of an automatic bolt fastening apparatus according to an embodiment of the present invention, fig. 2 is a side view of the automatic bolt fastening apparatus according to the embodiment of the present invention, fig. 3 is an enlarged view of a main portion in the enlarged view 2, and fig. 4 is a partial perspective view of a lower arm provided with a vacuum chuck and a chuck jaw in the automatic bolt fastening apparatus according to the embodiment of the present invention.
As shown in the drawings, the automatic bolt tightening apparatus according to the embodiment of the present invention includes a body frame 110, a lower arm 120, an upper arm 130, a vacuum chuck 140, a jaw 150, and a bolt fastener 160 as main components. The present invention is configured such that a process of mounting bolts from the bolt feeder F1 and a process of fastening bolts to the workpiece P1 positioned on an assembly line by the conveyor C1 are simultaneously and independently performed by such main components, thereby stably fastening the bolts and greatly shortening the time required for fastening the bolts.
Hereinafter, the automatic bolt fastening device according to the embodiment of the present invention will be described in detail centering on the above-described respective components.
The body frame 110 supports the lower arm 120 and the upper arm 130 to be movable up and down and rotatable in left and right directions, respectively.
The lower arm 120 has a function of supporting and moving the vacuum chuck 140 and the chuck jaw 150 at the front end portion, and is implemented by a multi-joint arm. The lower arm 120 includes: a lower lifting body 121 coupled to the body frame 110 in a liftable manner; and a first lower arm 122 and a second lower arm 123 which are coupled to the lower elevating body 121 in order to be rotatable in the left-right direction. On the upper side of the second lower arm 123, a vacuum chuck 140 is vertically provided by an auxiliary arm 124, and on the lower side, a jaw 150 provided with a pair of jaws 152(jaw) is provided.
The upper arm 130 has a function of moving the vacuum chuck 140 while supporting it at the front end portion, and is implemented by a multi-joint arm as in the lower arm 120. The upper arm 130 includes: an upper lifting body 131 which is coupled to the main body frame 110 in a liftable manner; a first upper arm 132, a second upper arm 133, and a third upper arm 134, which are coupled to the upper lifting body 131 in order to be rotatable in the left-right direction. A bolt fastener 160 is vertically provided below the front end of the third upper arm 134. Further, a visual field 190 is provided above the distal end portion of the third upper arm 134 to help confirm the bolt fastening position of the workpiece, so that the fastening operation by the bolt fastener 160 can be accurately performed.
The vacuum chuck 140 has a function of mounting a bolt from a bolt feeder, and is provided in the form of a vacuum suction pipe that sucks the bolt by vacuum pressure. The vacuum chuck 140 is vertically provided at a front end portion of the auxiliary arm 124 downward, and the auxiliary arm 124 is rotatably provided in a left-right direction on an upper surface of a front end portion of the lower arm 120. In detail, as shown in the sectional views of fig. 9 and 10, the internal structure of the vacuum chuck 140 is formed with an inner portion in a hollow form at a lower end portion thereof and is connected to a vacuum pump so that the bolt can be vacuum-sucked.
Here, as shown in fig. 10, the auxiliary arm 124 supporting the vacuum chuck 140 is provided to receive the driving force of the first motor M1 and to be rotatable in the left-right direction in a state of being supported at the front end portion of the lower arm 120 in a liftable form by the ball spline 180 vertically coupled to the lower side. The ball spline 180 is formed by combining a hollow vertical shaft 181 and a nut 182. A buffer spring 185 is additionally provided in a bent state below the vertical shaft 181 of the ball spline 180, and elastically supports the nut 182 of the ball spline 180 on the lower side. This can attenuate vibration and impact caused by the lifting operation of the ball spline 180 that is lifted and lowered together when the vacuum chuck 140 is lifted and lowered.
When the pinion 126 is rotated by the first motor M1, the rotary shaft 125, the nut 182 of the ball spline 180, and the vertical shaft 181, which are connected in this order, rotate, and the auxiliary arm 124 coupled to the upper end of the vertical shaft 181 rotates to perform the rotating operation of the vacuum chuck 140.
The jaw 150 is rotatably provided under the front end portion of the lower arm 120 in the left-right direction, and functions to clamp and transmit the bolt vacuumed in the vacuum chuck 140 to the bolt fastener 160 through a pair of jaws 152 provided at the front end portion. The clamping jaw 150 includes: a clamp body 151 rotatably coupled to a lower surface of a front end portion of the lower arm 120, receiving power supplied from a third motor M3, and rotating; and a pair of jaws 152 provided at a front end portion of the clamp body 151, and configured to open and close in the left-right direction and clamp the bolt. If such a clamping jaw 150 is provided, smooth bolt transmission can be performed between the vacuum chuck 140 and the bolt fastening device 160, the vacuum chuck 140 mounts the bolt from the bolt feeder by vacuum suction, and the bolt fastening device 160 fastens the bolt to the workpiece on the assembly line in a state where the bolt is vacuum-sucked by vacuum suction.
Here, preferably, the pair of jaws 152 are disposed at an intermediate angle of 180 degrees or more apart from each other. Accordingly, when the vacuum chuck 140 is moved by the rotation of the auxiliary arm 124 in the left-right direction, the pair of jaws 152 are set to be in a state of being opened to the maximum extent, and thus the cutting can be performed without interfering with each other.
Further, the lifting unit 170 is provided to gradually lift the vacuum chuck 140 to separate the bolt in a state where the bolt vacuum-sucked by the vacuum chuck 140 is clamped by the chuck 150.
As shown in fig. 6, the elevating unit 170 includes: a pinion gear 171 provided on the shaft of the second motor M2; a rack 172 that is engaged with the pinion 171 and moves linearly; a slide member 173 coupled to the rack 172 and linearly moving in the front-rear direction; a rail 174 for guiding the sliding member 173 to slide; a connection joint 175 having one end hinge-coupled to a front end of the sliding member 173; a lifting body 176 which is hinge-coupled to the other end of the coupling link 175, and which lifts up if the sliding member 173 moves forward and lowers down if the sliding member 173 moves backward, and which lifts up and lowers the auxiliary arm 124; and a pair of guide rods 177 vertically coupled along a lower side of the elevating body 176 and guiding the elevation of the elevating body 176.
According to the configuration of the lifting unit 170, if the rack 172 is moved forward by rotating the shaft of the second motor M2 and the pinion 171 coupled thereto, the slide member 173 moves forward together with the rack 172, and the lifting body 176 hinge-coupled to the front end portion of the slide member 173 by the coupling joint 175 is lifted. At this time, the guide rod 177 guides the elevating body 176 to stably ascend and descend, rather than to move forward. Here, the guide bar 177 is configured to have a pair of left and right sides, so that it is possible to solve a problem that the elevating body 176 is inclined to the left or right side and is inserted into the hole into which the ball spline 180 is inserted, thereby being unable to ascend or descend. Thereby, the auxiliary arm 124, the rear end portion of which is supported in a state of being mounted in the mounting groove 176a formed on the upper surface of the elevating body 176, is lifted, and the vacuum chuck 140 provided at the front end portion of the auxiliary arm 124 is also lifted.
In the configuration of the elevating unit 170, the vertical shaft 181 of the ball spline 180 vertically coupled to the lower side of the auxiliary arm 124 is inserted into the distal end portion of the lower arm 120 in a penetrating state through the through hole 176b formed in the mounting groove 176a of the elevating body 176. Thus, even if only the rear end portion of the auxiliary arm is supported by the mounting groove 176a of the lifting body 176, the front end portion can be lifted and lowered by the lifting body 176 of the lifting unit 170 without sagging.
In addition, the shape of the sliding member 173 may be focused on the configuration of the lifting unit 170. The sliding member 173 includes: a rack coupling portion 173a coupled to an upper surface of the rack 172; a left and right enlarged portion 173c coupled to a front end of the rack coupling portion 173a in a horizontally long manner; and a pair of slide portions 173b coupled to left and right ends of the left and right enlarged portions 173c, respectively, and formed to be long in the front-rear direction so as to be spaced apart from each other in a wide left-right direction, wherein the rail 174, the coupling portion 175, and the guide rod 176 are formed in a pair on the left and right sides corresponding to the slide portions 173 b.
As described above, if the left and right enlarged portions 173c and the pair of sliding portions 173b of the sliding member 173 are widely opened in the left and right directions and supported by the rail 174, the balance can be maintained very stably during the forward and backward movement, and the dead-end space can be actively used while avoiding the interference problem caused by the first motor M1 and the third motor M3, which supply power to the vacuum chuck 140 and the chuck jaw 150, even if the first motor M1 and the third motor M3 are arranged at the center of the space between the pair of sliding portions 173b spaced apart from each other.
In detail, it can be seen that the above-described structure of the lifting unit 170 is such that the second motor M2 is provided under the rear end portion of the auxiliary arm 124 to lift the vacuum chuck 140, and the auxiliary arm 124 can be easily lifted and lowered by a screw and a nut, but the second motor M2 is provided at a position spaced apart from the rear end portion of the auxiliary arm 124, and a complicated and inefficient structure is adopted by a power transmission system using the pinion gear 171, the rack gear 172, the slide member 173, the coupling structure 175, and the lifting body 176. However, such a configuration can be said to be an optimum configuration for minimizing the gap between the lower arm 120 and the upper arm 130 while minimizing the interference problem of the upper arm 130 by maximally lowering the height at which the auxiliary arm 124 and the vacuum chuck 140 operate.
The bolt fastener 160 is provided in the form of a vacuum suction pipe and is provided at the distal end of the upper arm 130 so as to be movable up and down. The bolt fastening device 160 vacuum-sucks the bolt clamped by the vacuum chuck 140, moves the bolt to the assembly line in this state by the upper arm 130, and then fastens the bolt to the workpiece positioned on the assembly line. In the present invention, the bolt fastening device 160 is operated to fasten the bolt to the workpiece by moving the bolt fastening device immediately after receiving the bolt transferred from the jaw 150 interposed therebetween without performing the operation of moving the bolt to the bolt feeder and mounting the bolt. This saves time required for the bolt-tightening device 160 to move to a long distance between the workpiece and the bolt feeder in the assembly line and time required for positioning the bolt feeder and mounting the bolt.
Fig. 11a to 11l show the bolt mounting and moving by the vacuum chuck 140, the intermediate clamping and transmission of the bolt by the clamping jaw 150, and the bolt moving and fastening work in order by the bolt fastener 160. In particular, as shown in the drawing, it is noted that while the bolt fastener 160 fastens the previous bolt, the vacuum jig 140 and the clamping jaw 150 wait at the waiting position in order to transmit the bolt to the bolt fastener 160 immediately after the bolt is loaded from the bolt feeder in cooperation with the clamping jaw 150, and if the bolt fastener 160 finishes fastening the previous bolt, the bolt waiting at the waiting position is loaded immediately by the clamping jaw 150 and the bolt fastening operation is performed.
Further, it is noted that a minute action and action are performed by the clamping jaw 150 between the vacuum chuck 140 and the bolt tightener 160. As shown in fig. 11d and 11k, the clamping jaw 150 smoothly performs an intermediate bolt transferring function by clamping between the vacuum chuck 140 for vacuum-sucking the bolt and the bolt tightener 160. Further, in order to avoid interference with the vacuum chuck 140, the jaws 150 are opened wide by 180 degrees, not only by separately rotating them. The vacuum chuck 140 also performs such avoidance while the jaws 150 are actuated.
While the preferred embodiments of the present invention have been described, the present invention is susceptible to various changes, modifications and equivalents. It goes without saying that the present invention can be appropriately modified and applied identically. Accordingly, the above description should not be taken as limiting the scope of the invention, which is defined by the metes and bounds of the claims that follow.
Claims (8)
1. An automatic bolt fastening device for receiving a bolt supplied from a bolt feeder and fastening the bolt to a workpiece on an assembly line, the automatic bolt fastening device comprising:
a body frame;
a lower arm provided to the body frame to be rotatable in the left-right direction;
a clamp which is arranged at the front end part of the lower arm and carries a bolt from a bolt feeder;
an upper arm provided on the body frame so as to be rotatable in the left-right direction on the upper side of the lower arm;
a bolt fastening device which is arranged at the front end part of the upper arm in a lifting way, moves the bolt loaded on the clamp along the assembly line in a vacuum adsorption state through the upper arm, and then fastens the bolt on the processed object positioned on the assembly line;
thus, the process of mounting the bolt from the bolt feeder by the jig and the process of fastening the bolt to the workpiece by the bolt fastener are performed independently at the same time.
2. The automatic bolt-tightening apparatus according to claim 1,
the jig includes: a vacuum clamp which is arranged at the front end part of an auxiliary arm and can carry out vacuum adsorption on the bolt of the bolt feeder, wherein the auxiliary arm is arranged on the front end part of the lower arm in a mode of rotating along the left-right direction; and a jaw which can clamp the bolt vacuum-sucked to the vacuum chuck through a pair of jaws and transmit the bolt to the bolt fastener, wherein the pair of jaws are rotatably arranged at the front end part of the lower arm along the left-right direction.
3. The automatic bolt-tightening apparatus according to claim 2,
the auxiliary arm receives a driving force of the first motor and is rotatable in a left-right direction in a state of being liftably supported at a front end portion of the lower arm by a ball spline vertically coupled to a lower side.
4. The automatic bolt-tightening apparatus according to claim 3,
a spring for buffering is also provided, which elastically supports the ball spline.
5. The automatic bolt-tightening apparatus according to claim 3,
the clamping jaw is provided with a lifting unit, the vacuum clamp is lifted to separate the bolt under the state that the bolt which is vacuum absorbed on the vacuum clamp is clamped,
the lifting unit includes: a pinion gear provided on a shaft of the second motor; a rack engaged with the pinion and linearly moved; a sliding member coupled to the rack and linearly moving in a front-rear direction; a rail for guiding the sliding member to slide; a connecting joint, one end of which is hinged with the front end of the sliding component; a lifting body hinged with the other end of the connection, lifting if the sliding component moves forwards, and lowering if the sliding component moves backwards, and simultaneously lifting the auxiliary arm; and a guide bar vertically combined along the lower side of the lifting body and guiding the lifting of the lifting body.
6. The automatic bolt-tightening apparatus according to claim 5,
the sliding member includes: a rack coupling part coupled to an upper surface of the rack; a left-right enlarged part which is combined with the front end part of the rack combination part in a form of being long along the left-right direction; a pair of sliding parts respectively connected with the left side end part and the right side end part of the left and right expansion parts and formed long along the front and back direction in a state of being separated from each other, wherein the rail bar, the connecting joint and the guide rod are corresponding to the sliding parts and formed in a pair on the left side and the right side,
a first motor and a third motor are disposed in a space between a pair of mutually isolated slide portions to supply power to the vacuum chuck and the chuck jaws, respectively.
7. The automatic bolt-tightening apparatus according to claim 1,
the upper and lower arms are each formed from a bendable multi-jointed arm.
8. An industrial product manufacturing system, as an industrial product manufacturing system, comprising:
a conveyor for transferring the workpiece to each assembly line;
a bolt feeder that feeds bolts; and
the automatic bolt-tightening apparatus according to any one of claims 1 to 7, which receives a bolt supplied from a bolt feeder and can tighten it to a work at an assembly line.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2020-0109242 | 2020-08-28 | ||
| KR1020200109242A KR102182094B1 (en) | 2020-08-28 | 2020-08-28 | Automatic bolt fastening device using two-arm scara robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114102113A true CN114102113A (en) | 2022-03-01 |
| CN114102113B CN114102113B (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110199379.3A Active CN114102113B (en) | 2020-08-28 | 2021-02-22 | Automatic bolt fastening device using double-arm horizontal joint type robot |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US11420299B2 (en) |
| JP (1) | JP7128550B2 (en) |
| KR (1) | KR102182094B1 (en) |
| CN (1) | CN114102113B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112676808B (en) * | 2020-12-15 | 2022-12-06 | 深圳市德龙智能高科技有限公司 | Mechanism and method for grabbing frame by quasi-module |
| CN112917119B (en) * | 2021-01-24 | 2024-06-21 | 广东湾内智能装备有限公司 | Manipulator for assembling intelligent manufactured mechanical parts |
| KR102337420B1 (en) | 2021-03-24 | 2021-12-08 | 주식회사 대송 | Device for auto-contraction of bolt |
| CN113910209A (en) * | 2021-11-02 | 2022-01-11 | 南京航空航天大学 | Self-adaptive intelligent assembly system and method for multi-source sensing array antenna |
| KR102538799B1 (en) | 2021-11-03 | 2023-06-01 | 한국과학기술원 | Scara robot arm that can be fixed in position by a single fixture |
| KR20240062809A (en) | 2022-11-02 | 2024-05-09 | 한국과학기술원 | Positioning arm whose position can be fixed by a single fixture |
| CN117506958B (en) * | 2023-12-13 | 2024-07-05 | 东莞市亚安自动化科技有限公司 | Magnetic core six-axis grabbing and placing blank manipulator |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2022039915A (en) | 2022-03-10 |
| US11420299B2 (en) | 2022-08-23 |
| JP7128550B2 (en) | 2022-08-31 |
| CN114102113B (en) | 2024-03-08 |
| US20220063030A1 (en) | 2022-03-03 |
| KR102182094B1 (en) | 2020-11-23 |
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